Title :
Real-time control architecture for an autonomous mobile robot
Author :
Sandt, Frédéric ; Pampagnin, Luc-Henri
Author_Institution :
ITMI, Meylan, France
Abstract :
The FIRST system is composed of several robots which share common resources in a public environment. Therefore it is necessary to manage in real-time events with different scopes e.g. local and global events. The described control structure allows a hierarchical decision mechanism to be built from a local hardware (automaton) or software (activities and central supervisor) level up to a global software (ground station) or (human user) level. At each level, the reactivity of the system is enhanced through the decomposition into data processing and reactive control tasks that define the modules behaviour. The hardware architecture, composed of multiple processing units, is designed in order to provide reactivity and modularity.
Keywords :
mobile robots; path planning; real-time systems; autonomous mobile robot; global events; global software; hierarchical decision mechanism; local events; local hardware; modularity; multiple processing units; reactive control; real-time control architecture; Automata; Automatic control; Centralized control; Data processing; Hardware; Humans; Mobile robots; Process control; Robotics and automation; Satellite ground stations;
Conference_Titel :
Intelligent Vehicles '94 Symposium, Proceedings of the
Print_ISBN :
0-7803-2135-9
DOI :
10.1109/IVS.1994.639553